The HyTAQ robot has been developed in the Robotics Lab at Illinois Institute of Technology (IIT), part of the Mechanical, Materials, and Aerospace Engineering Department. It is a novel mobile robot capable of both aerial and terrestrial locomotion. Flight is achieved through a quadrotor configuration; four actuators provide the required thrust. Adding a rolling cage to the quadrotor makes terrestrial locomotion possible using the same actuator set and control system. Thus, neither the mass nor the system complexity is increased by inclusion of separate actuators for terrestrial and aerial locomotion.